| CABLE-DRIVEN ROBOTS |
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Cable-driven projectile loading robot |
| YANG Jifeng1, YAO Rui2, CHEN Jie1 |
1. PLA Navy Submarine Academy, Qingdao 266199, China;
2. CAS Key Laboratory of FAST, National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100101, China |
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Abstract A three-cable parallel robot was developed for naval missile systems for automatic transfer and loading of the missile with improved loading safety and efficiency. A two-step optimization method was used to completely consider the construction difficulties, weight and cost of the missile loading system with a global search optimization and a local search optimization. The global search considers all the search parameters to determine the tower height as the key design parameter. Then, a cantilever displacement formula is used to relate the cable tower height and diameter with a dimensionless optimization function for the cable force rate of change as a function of the tower height. An optimization function is then used to minimize the maximum cable force. This design optimization method is useful for designing naval automatic projectile loading systems.
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| Keywords
cable-driven parallel robots
cables
optimization design
projectile loading
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Issue Date: 06 March 2021
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2021,
Vol. 61
